Different from existing segmentation methods, which are done on a single LiDAR scan, determining whether an object is moving or not usually requires multi-frame observations.
Chen et al.  [1]} propose LMNet to directly use off-the-shelf segmentation networks [2]}, [3]}, [4]}.
It exploits the spatial-temporal information by simply concatenating the residual images calculated from multiple continuous scans.
In contrast to LMNet, we propose a novel dual-branch structure that first deals with spatial and temporal information separately and then fuses them using motion-guided attention modules.
